Support Vector Machine Observer Based Fault Detection for Reconfigurable Manipulators

被引：0
|
作者：
Zhao Bo [1 ]
Dong Bo [1 ]
Li Yuanchun
机构：
[1] Jilin Univ, State Key Lab Automobile Dynam Simulat, Changchun 130022, Peoples R China
来源：
2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年
关键词：
Reconfigurable Manipulators; SVM observer; Fault Detection; ROBOT MANIPULATORS; DIAGNOSIS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel fault detection scheme for reconfigurable manipulators actuators based on support vector machine(SVM) observer which has good ability to estimate any functions is proposed to estimate the unknown term and uncertainty term. The reconfigurable manipulators system is fault-free when the error between true value and predict value is less than the given threshold, otherwise, the system is in failure. Then the fuzzy logic systems are proposed for approximating the interconnection term by using adaptive algorithm. Based on Lyapunov stability theorem, the system stability can be verified. And the simulation results illustrate the effectiveness of the proposed fault detection schemes.
引用
收藏
页码：3979 / 3984
页数：6
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